CN102631787B - A kind of double-shaft autostability control device for the model airplane plane provided by - Google Patents
A kind of double-shaft autostability control device for the model airplane plane provided by Download PDFInfo
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- CN102631787B CN102631787B CN201210081802.0A CN201210081802A CN102631787B CN 102631787 B CN102631787 B CN 102631787B CN 201210081802 A CN201210081802 A CN 201210081802A CN 102631787 B CN102631787 B CN 102631787B
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Abstract
The invention discloses a kind of auxiliary flight control device for a model airplane plane and a device control method, be specifically related to a kind of double-shaft autostability control device for the model airplane plane provided by.The steady gyroscope of increasing of the many employings of aeromodelling airplane at present is to increase stability, but on market, the steady Gyroscopic stabilization of existing increasing is poor, quality weight, calculating error are big.The present invention provides a kind of double-shaft autostability control device for the model airplane plane provided by, including single-chip microcomputer, four road functional select switches, two-way sensitivity regulator potentiometer and twin shaft angular rate sensor.Angle rate signal is done temperature drift compensation according to temperature-compensating rule and calculates by single-chip microcomputer, the temperature offset amount of angular speed is fitted to the function relevant with the time, calculating controlled quentity controlled variable by the pid algorithm improved, controlled quentity controlled variable is converted into pwm signal output and drives steering wheel to rotate by SCM PWM module.The present invention improves the stability of aeromodelling airplane.
Description
Technical field
The present invention relates to a kind of aeromodelling airplane assisting in flying and control device, especially relate to a kind of aeromodelling airplane twin shaft and increase steady
Controller and control method.
Background technology
At present flight type toy and model airplane, because size is little, low cost, flying field is required low, flight risk is little,
Increased popularity the most at home and abroad.Because the size of aeromodelling airplane diminishes, then occur that air damping reduces little, Reynolds number reduction, non-
Permanent air force weakens, and static-stability performance is relatively low, handling is poor, increases introduction flight difficulty, has had a strong impact on spy
The quality of movement of skill flight.
In order to increase the stability of small-sized aeromodelling airplane, use increases steady gyroscope to increase the steady of model plane more
Qualitative, on hardware, great majority are all to use piezoquartz angular rate sensor, piezoquartz angular rate sensor volume big and
Quality weight, affects the flying height of small-sized aeromodelling airplane.In control algolithm, prior art uses PI control algolithm, or
Individually in place of the equal Shortcomings of P control algolithm.The shortcoming of use PI control algolithm is: along with the increasing of controller working time
Adding, the output error of angular rate sensor is accumulated always, thus affects the operator's real-time control to the model of an airplane, reduction
Flight reappearance；The shortcoming using P control algolithm: owing to not having accurate error intergal to feed back, controller flies for aeromodelling airplane
Little angular speed error during row cannot identify in time, so that the stability of aeromodelling airplane is affected, and then can not accurately control
Aeromodelling airplane processed.
Summary of the invention
The present invention is directed to that piezoquartz angular rate sensor volume is big and quality weight, and model plane are flown by the control algolithm of software
Machine control not accurate enough deficiency, provide a kind of double-shaft autostability control device for the model airplane plane provided by for this, including double
Shaft angle rate sensor 4, is used for exporting X-axis angle rate signal, Y-axis angle rate signal and sensor temperature signals, connects monolithic
2nd I/O interface of machine 1；Four road functional select switches 2 of output two grades of signals of open and close connect an I/O of single-chip microcomputer 1 and connect
Mouthful；Two-way sensitivity regulator potentiometer 3 connects the 3rd I/O interface of single-chip microcomputer 1；The analogue signal received is passed through by single-chip microcomputer 1
A/D converter is converted into digital signal, and carries out computing according to program in the processor of single-chip microcomputer 1, according to given temperature
Angle rate signal is done temperature drift compensation and calculates by Compensation Rule, calculates temperature departure amount, by the temperature offset amount matching of angular speed
Become the function relevant with the time, calculate controlled quentity controlled variable by the pid algorithm improved, and controlled quentity controlled variable is inputted the PWM mould of single-chip microcomputer 1
Block, by PWM(Pulse Width Modulation pulse width modulation) module converter be pwm signal output, be used for
Drive the control surface deflection of aeromodelling airplane steering wheel, to produce air-operated control Torque Control aeromodelling airplane.
Double-shaft autostability control device for the model airplane plane provided by of the present invention, described four road functional select switch 2 points
It is not: offline mode selection, aircraft configuration selection, the first steering wheel set direction, the second steering wheel set direction；Described two road feels
Degree regulator potentiometer 3 is respectively as follows: pitching sensitivity potentiometer and rolling sensitivity potentiometer；Described twin shaft angular rate sensor 4 is
MEMS angular rate sensor.
The invention has the beneficial effects as follows:
The present invention uses MEMS(Micro-Electro-Mechanical Systems MEMS) angular speed
Sensor.Digital signal is made the temperature drift compensation meter of angular rate sensor by processor of single chip computer according to given temperature-compensating rule
Calculate, calculate temperature departure amount, the temperature offset amount of angular speed is fitted to the function relevant with the time, by the PID improved
Algorithm calculates controlled quentity controlled variable, and controlled quentity controlled variable inputs the PWM module of single-chip microcomputer 1, is converted into pwm signal by PWM module and exports；
Control algolithm without aileron helicopter is incorporated in the control of fixed-wing aeromodelling airplane, makes small-sized aeromodelling airplane fully according to behaviour
The operational order of author is stablized, is flown glibly, improves the handling and stability of aircraft.Small-sized aeromodelling airplane is made to have
Stability that large-scale aeromodelling airplane is the same, accuracy, reduce the introduction difficulty of abecedarian, expands the market of aeromodelling airplane.
Accompanying drawing explanation
Examples of the present invention will be described by way of reference to the accompanying drawings, wherein:
Fig. 1 is the schematic diagram of controller of the present invention；
Fig. 2 is the single-chip microcomputer flow chart in the present invention.
Detailed description of the invention
All features disclosed in this specification, or disclosed all methods or during step, except mutually exclusive
Feature and/or step beyond, all can combine by any way.
Any feature disclosed in this specification (including any accessory claim, summary and accompanying drawing), unless chatted especially
State, all can be by other equivalences or there is the alternative features of similar purpose replaced.I.e., unless specifically stated otherwise, each feature is only
It it is an example in a series of equivalence or similar characteristics.
SHAPE as shown in Figure 1 * MERGEFORMAT controller principle block diagram, twin shaft angular rate sensor 4 exports
Three tunnel analogue signals, are X-axis angle rate signal, Y-axis angle rate signal and sensor temperature signals respectively, wherein X-axis angular speed
Signal, the scope of Y-axis angle rate signal are 440 °/s, and resolution is 2.27mV/ °/s, and temperature sensor signal scope is-20 °
C～+85 ° of C, resolution is 4mV/ ° of C, and this three roads signal is input to the 2nd I/O interface of single-chip microcomputer, and the 2nd I/O interface connects single
The A/D converter of sheet machine 1, is turned X-axis angle rate signal, Y-axis angle rate signal and temperature sensor signal by A/D converter
Change digital signal into；The function selecting of four road functional select switches 3 is respectively: offline mode selects (new hand's pattern and stunt mould
Formula), aircraft configuration select (mixing pattern and normal arrangement), the first steering wheel set direction, the second steering wheel set direction, Mei Yilu
Provide two grades of signals of Push And Release, single-chip microcomputer 1 being directly read by an I/O mouth is 1 or 0；Two-way sensitivity regulator potentiometer 3 points
Not: pitching sensitivity potentiometer, rolling sensitivity potentiometer, pitching sensitivity potentiometer, the excursion of rolling sensitivity potentiometer are 0
～3.3V, its size depends on that knob position, two-way sensitivity regulator potentiometer 3 connect the 3rd I/O interface of single-chip microcomputer 1, the 3rd
I/O interface connects the A/D converter of single-chip microcomputer 1, and the analogue signal exported by sensitivity regulator potentiometer by A/D converter is changed
Become digital signal；The digital signal of above each several part, carries out computing according to program in the processor of single-chip microcomputer 1, according to given
Temperature-compensating rule digital signal is done angular rate sensor temperature drift compensation calculate, calculate temperature departure amount, by angle speed
The temperature offset amount of rate fits to the function relevant with the time, calculates controlled quentity controlled variable by the pid algorithm improved, and by controlled quentity controlled variable
The PWM module of input single-chip microcomputer 1, is converted into pwm signal by PWM module by controlled quentity controlled variable and exports, and the pwm signal cycle is 71HZ,
Positive pulse duration range 1100us ~ 1920us, neutral point is 1520us.The pwm signal of single-chip microcomputer 1 output, drives the rudder of aeromodelling airplane
Machine rotates and drives control surface deflection, to produce air-operated control Torque Control aeromodelling airplane.
The software flow pattern in single-chip microcomputer as shown in Figure 2, after start, system first initializes, including intervalometer, modulus
The initialization of the peripheral hardware such as transducer, external interrupt；Receiver signal is read in by external interrupt；Read in by the 2nd I/O interface
Two shaft angle rate sensor 4 signals, the 2nd I/O interface connects the A/D converter of single-chip microcomputer 1, by A/D converter by X-axis angle
Rate signal, Y-axis angle rate signal and temperature sensor signal are converted into digital signal；According to given temperature-compensating rule pair
Digital signal does the temperature drift compensation of angular rate sensor and calculates, and calculates temperature departure amount, the temperature offset amount of angular speed is intended
Synthesize the function relevant with the time,；Inquiry intervalometer, if timer time is more than 1S, detection functional select switch and sensitivity
The value of potentiometer, and intervalometer is made zero, otherwise it is directly entered next step；Controlled quentity controlled variable is calculated by the pid algorithm improved；And will
The PWM module of controlled quentity controlled variable input single-chip microcomputer 1, is converted into pwm signal by PWM module and exports, and drives steering wheel to rotate；Again circulate
To the reading of receiver signal, restart a circulation.
Software is incorporated into the control algolithm without aileron helicopter in the control of fixed-wing aeromodelling airplane, and simulation model plane are gone straight up to
The effect of machine servo winglet, increases the damping of rolling and pitch channel.The pid algorithm improved, to the mesh in traditional PI D-algorithm
Scale value and measured value do and process respectively, and desired value adds decay.
The invention is not limited in aforesaid detailed description of the invention.The present invention expands to any disclose in this manual
New feature or any new combination, and the arbitrary new method that discloses or the step of process or any new combination.
Claims (6)
1. an aeromodelling airplane twin shaft augmentation control device, it is characterised in that: include single-chip microcomputer (1), four road functional select switches
(2), two-way sensitivity regulator potentiometer (3) and twin shaft angular rate sensor (4): described single-chip microcomputer (1), read in four tunnel function selecting
Switch (2), two-way sensitivity regulator potentiometer (3), the analog control signal of twin shaft angular rate sensor (4), by single-chip microcomputer (1)
A/D converter be converted into digital signal；Angle rate signal is done temperature drift according to given temperature-compensating rule and mends by single-chip microcomputer (1)
Repay calculating, the temperature offset amount of angular speed is fitted to the function relevant with the time, calculate control by the pid algorithm improved
Amount, and controlled quentity controlled variable is inputted the PWM module of single-chip microcomputer (1), it is converted into pwm signal by PWM module and exports；
The signal output part of described four road functional select switches (2) connects an I/O interface of single-chip microcomputer (1), is used for selecting boat
The offline mode of mould aircraft；
The signal output part of described two-way sensitivity regulator potentiometer (3) connects the 3rd I/O interface of single-chip microcomputer (1), is used for controlling
The pitching feedback factor of aeromodelling airplane flight and rolling feedback factor；
The signal output part of described twin shaft angular rate sensor (4) connects the 2nd I/O interface of single-chip microcomputer (1), in single-chip microcomputer (1)
A/D converter in be converted into digital signal；
Described twin shaft angular rate sensor (4) exports three tunnel analogue signals, is X-axis angle rate signal, Y-axis angular speed letter respectively
Number and the temperature signal of sensor.
2. according to the aeromodelling airplane twin shaft augmentation control device described in claim 1, it is characterised in that: described twin shaft angular speed passes
Sensor (4) exports three tunnel analogue signals: X-axis angle rate signal, the scope of Y-axis angle rate signal are 440 °/s, and resolution is
2.27mV/ °/s, the temperature signal scope of sensor is-20 DEG C～+85 DEG C, and resolution is 4mV/ DEG C.
3. according to the aeromodelling airplane twin shaft augmentation control device described in claim 1, it is characterised in that: described twin shaft angular speed passes
Sensor (4) is MEMS twin shaft angular rate sensor.
4. according to the aeromodelling airplane twin shaft augmentation control device described in claim 1, it is characterised in that: four described tunnel function selecting
The selection pattern of switch (2) is respectively as follows: offline mode selection, aircraft configuration selection, the first steering wheel set direction, the second steering wheel side
To selection；The offline mode of four road functional select switches (2) is respectively as follows: new hand's pattern and special-effect mode；Four tunnel function selecting are opened
The aircraft configuration closing (2) selects to be respectively as follows: mixing pattern and normal arrangement.
5. according to the aeromodelling airplane twin shaft augmentation control device described in claim 1, it is characterised in that: described two-way sensitivity regulation
Potentiometer (3) is respectively: pitching sensitivity potentiometer, rolling sensitivity potentiometer；Pitching sensitivity potentiometer, rolling sensitivity potentiometer
Excursion is 0～3.3V, and its size depends on knob position.
6. the control method of the aeromodelling airplane twin shaft augmentation control device that a kind realizes described in claim 1, it is characterised in that: include
Following steps:
S1, start after, system first initializes, including intervalometer, analog-digital converter, external interrupt these three peripheral hardware initial
Change；
S2, read in receiver signal by external interrupt；
S3, read in twin shaft angular rate sensor (4) signal by the 2nd I/O interface, and connect the A/D converter of single-chip microcomputer (1)
It is converted into digital signal；
S4, in the processor of single-chip microcomputer (1), angle rate signal to twin shaft angular rate sensor (4) does temperature drift compensation and calculates,
Temperature offset amount is fitted to the function relevant with the time；
S5, inquiry intervalometer, if timer time is more than 1S, detection functional select switch and the value of sensitivity potentiometer, and handle
Intervalometer makes zero, and is otherwise directly entered next step；
S6, according to improve pid algorithm calculate controlled quentity controlled variable；
S7, by single-chip microcomputer (1) PWM module controlled quentity controlled variable converted pwm signal export, drive steering wheel to rotate；
S8, it is circulated again into the reading of receiver signal, restarts a circulation.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210081802.0A CN102631787B (en) | 2012-03-26 | 2012-03-26 | A kind of double-shaft autostability control device for the model airplane plane provided by |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210081802.0A CN102631787B (en) | 2012-03-26 | 2012-03-26 | A kind of double-shaft autostability control device for the model airplane plane provided by |
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| CN102631787A CN102631787A (en) | 2012-08-15 |
| CN102631787B true CN102631787B (en) | 2016-08-31 |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104808495A (en) * | 2015-05-15 | 2015-07-29 | 武汉工程大学 | Robot steering gear control system based on gyroscope feedback |
| CN106610582B (en) * | 2015-10-27 | 2019-05-28 | 哈尔滨建成集团有限公司 | The compensation method of electric steering engine performance change as caused by variation of ambient temperature |
| CN110618705B (en) * | 2019-10-23 | 2022-11-01 | 北京机械设备研究所 | Method and device for compensating environmental temperature of digital electric steering engine |
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| CN86202063U (en) * | 1986-04-03 | 1988-03-09 | 马世强 | Toy plane controlled by hand power line |
| CN1507364A (en) * | 2001-03-06 | 2004-06-23 | ���ء����߸� | remote control aircraft |
| CN2681997Y (en) * | 2004-03-16 | 2005-03-02 | 清华大学 | Aircraft autopilot with dual processors |
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| CN102631787A (en) | 2012-08-15 |
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